--- /dev/null
+#import "HUD.h"
+#import <CoreMotion/CoreMotion.h>
+
+// Ratio to activate control yaw and gaz
+#define CONTROL_RATIO (1.0 / 3.0)
+#define CONTROL_RATIO_IPAD (1.0 / 6.0)
+
+#define ACCELERO_THRESHOLD 0.1
+#define ACCELERO_NORM_THRESHOLD 0.0
+#define ACCELERO_FASTMOVE_THRESHOLD 1.3
+
+// Determine if a point within the boundaries of the joystick.
+static bool_t isPointInCircle(CGPoint point, CGPoint center, float radius) {
+ float dx = (point.x - center.x);
+ float dy = (point.y - center.y);
+ return (radius >= sqrt( (dx * dx) + (dy * dy) ));
+}
+
+static float sign(float value)
+{
+ float result = 1.0;
+ if(value < 0)
+ result = -1.0;
+
+ return result;
+}
+
+static float Normalize(float x, float y, float z)
+{
+ return sqrt(x * x + y * y + z * z);
+}
+
+static float Clamp(float v, float min, float max)
+{
+ float result = v;
+ if(v > max)
+ result = max;
+ else if(v < min)
+ result = min;
+
+ return result;
+}
+
+static CONTROLS controls_table[CONTROL_MODE_MAX] =
+{
+ [CONTROL_MODE1] = { {FALSE, inputPitch, inputYaw}, {FALSE, inputGaz, inputRoll} },
+ [CONTROL_MODE2] = { {FALSE, inputGaz, inputYaw}, {TRUE, inputPitch, inputRoll} },
+ [CONTROL_MODE3] = { {TRUE, inputPitch, inputRoll}, {FALSE, inputGaz, inputYaw} },
+ [CONTROL_MODE4] = { {FALSE, inputGaz, inputRoll}, {FALSE, inputPitch, inputYaw} }
+};
+
+@interface HUD ()
+ControlData *controlData;
+ARDroneHUDConfiguration config;
+bool_t acceleroEnabled, combinedYawEnabled;
+CONTROL_MODE controlMode;
+float accelero[3];
+float accelero_rotation[3][3];
+UIAccelerationValue lastX, lastY, lastZ;
+double lowPassFilterConstant, highPassFilterConstant;
+BOOL accelerometer_started;
+CGPoint joystickRightCurrentPosition, joystickLeftCurrentPosition;
+CGPoint joystickRightInitialPosition, joystickLeftInitialPosition;
+BOOL buttonRightPressed, buttonLeftPressed;
+CGPoint rightCenter, leftCenter;
+float tmp_phi, tmp_theta;
+BOOL screenOrientationRight;
+float alpha;
+SystemSoundID plop_id, batt_id;
+FILE *mesures_file;
+BOOL running;
+
+BOOL compiledForIPad;
+BOOL usingIPad;
+BOOL using2xInterface;
+
+
+#if TARGET_IPHONE_SIMULATOR == 1
+NSTimer *timer;
+- (void)simulate_accelerometer:(id)sender;
+#else
+
+- (void)accelerometer:(UIAccelerometer *)accelerometer didAccelerate:(UIAcceleration *)acceleration;
+#endif
+- (void)setAcceleroRotationWithPhi:(float)phi withTheta:(float)theta withPsi:(float)psi;
+- (void)refreshJoystickRight;
+- (void)refreshJoystickLeft;
+- (void)updateVelocity:(CGPoint)point isRight:(BOOL)isRight;
+- (void)hideInfos;
+- (void)showInfos;
+- (void)refreshControlInterface;
+@end
+
+@implementation HUD
+@synthesize firePressed;
+@synthesize settingsPressed;
+@synthesize mainMenuPressed;
+
+- (id)initWithFrame:(CGRect)frame withState:(BOOL)inGame withHUDConfiguration:(ARDroneHUDConfiguration)hudconfiguration withControlData:(ControlData*)data
+{
+ NSArray *targetArray = [[[NSBundle mainBundle] infoDictionary] objectForKey:@"UIDeviceFamily"];
+ compiledForIPad = NO;
+ for (int i = 0; i < [targetArray count]; i++)
+ {
+ NSNumber* num = (NSNumber*)[targetArray objectAtIndex:i];
+ int value;
+ [num getValue:&value];
+ if (2 == value)
+ {
+ compiledForIPad = YES;
+ break;
+ }
+ }
+
+ usingIPad = NO;
+ if (UI_USER_INTERFACE_IDIOM() == UIUserInterfaceIdiomPad)
+ {
+ usingIPad = YES;
+ }
+
+ using2xInterface = NO;
+ if ([UIScreen instancesRespondToSelector:@selector(scale)]) {
+ CGFloat scale = [[UIScreen mainScreen] scale];
+ if (scale > 1.0) {
+ using2xInterface = YES;
+ }
+ }
+
+ if (usingIPad && compiledForIPad)
+ {
+ self = [super initWithNibName:@"HUD-iPad" bundle:nil];
+ }
+ else
+ {
+ self = [super initWithNibName:@"HUD" bundle:nil];
+ }
+ NSLog(@"HUD frame => w : %f, h : %f", data, frame.size.width, frame.size.height);
+ if(self)
+ {
+ controlData = data;
+ running = inGame;
+ firePressed = NO;
+ settingsPressed = NO;
+ mainMenuPressed = NO;
+
+ vp_os_memcpy(&config, &hudconfiguration, sizeof(ARDroneHUDConfiguration));
+
+ acceleroEnabled = TRUE;
+ combinedYawEnabled = FALSE;
+ controlMode = CONTROL_MODE3;
+ buttonRightPressed = buttonLeftPressed = NO;
+
+ rightCenter = CGPointZero;
+ leftCenter = CGPointZero;
+ lowPassFilterConstant = 0.2;
+ highPassFilterConstant = (1.0 / 5.0) / ((1.0 / kAPS) + (1.0 / 5.0));
+
+ joystickRightInitialPosition = CGPointZero;
+ joystickRightCurrentPosition = CGPointZero;
+ joystickLeftInitialPosition = CGPointZero;
+ joystickLeftCurrentPosition = CGPointZero;
+
+ accelero[0] = 0.0;
+ accelero[1] = 0.0;
+ accelero[2] = 0.0;
+
+ tmp_phi = 0.0;
+ tmp_theta = 0.0;
+
+ [self setAcceleroRotationWithPhi:0.0 withTheta:0.0 withPsi:0.0];
+
+ accelerometer_started = NO;
+
+#if TARGET_IPHONE_SIMULATOR == 1
+ [NSTimer scheduledTimerWithTimeInterval:(NSTimeInterval)(1.0 / kAPS) target:self selector:@selector(simulate_accelerometer:) userInfo:nil repeats:YES];
+#else
+ [[UIAccelerometer sharedAccelerometer] setUpdateInterval: (NSTimeInterval)(1.0 / kAPS)];
+ [[UIAccelerometer sharedAccelerometer] setDelegate:self];
+#endif
+
+#ifdef WRITE_DEBUG_ACCELERO
+ char filename[128];
+ NSString *documentsDirectory = [NSSearchPathForDirectoriesInDomains(NSDocumentDirectory,NSUserDomainMask, YES) objectAtIndex:0];
+ sprintf(filename, "%s/accelero_iphones_mesures.txt",
+ [documentsDirectory cStringUsingEncoding:NSUTF8StringEncoding]);
+ mesures_file = fopen(filename, "wb");
+ fprintf(mesures_file, "ARDrone\nNumSamples;AccEnable;AccXbrut;AccYbrut;AccZbrut;AccX;AccY;AccZ;PhiAngle;ThetaAngle;AlphaAngle\n");
+#endif
+ }
+
+ return self;
+}
+
+- (void) setAcceleroRotationWithPhi:(float)phi withTheta:(float)theta withPsi:(float)psi
+{
+ accelero_rotation[0][0] = cosf(psi)*cosf(theta);
+ accelero_rotation[0][1] = -sinf(psi)*cosf(phi) + cosf(psi)*sinf(theta)*sinf(phi);
+ accelero_rotation[0][2] = sinf(psi)*sinf(phi) + cosf(psi)*sinf(theta)*cosf(phi);
+ accelero_rotation[1][0] = sinf(psi)*cosf(theta);
+ accelero_rotation[1][1] = cosf(psi)*cosf(phi) + sinf(psi)*sinf(theta)*sinf(phi);
+ accelero_rotation[1][2] = -cosf(psi)*sinf(phi) + sinf(psi)*sinf(theta)*cosf(phi);
+ accelero_rotation[2][0] = -sinf(theta);
+ accelero_rotation[2][1] = cosf(theta)*sinf(phi);
+ accelero_rotation[2][2] = cosf(theta)*cosf(phi);
+
+#ifdef WRITE_DEBUG_ACCELERO
+ NSLog(@"Accelero rotation matrix changed :");
+ NSLog(@"%0.1f %0.1f %0.1f", accelero_rotation[0][0], accelero_rotation[0][1], accelero_rotation[0][2]);
+ NSLog(@"%0.1f %0.1f %0.1f", accelero_rotation[1][0], accelero_rotation[1][1], accelero_rotation[1][2]);
+ NSLog(@"%0.1f %0.1f %0.1f", accelero_rotation[2][0], accelero_rotation[2][1], accelero_rotation[2][2]);
+#endif
+}
+
+#if TARGET_IPHONE_SIMULATOR == 1
+- (void)simulate_accelerometer:(id)sender
+{
+ UIAcceleration *acceleration = [[UIAcceleration alloc] init];
+#else
+- (void)accelerometer:(UIAccelerometer *)accelerometer didAccelerate:(UIAcceleration *)acceleration
+{
+#endif
+ static double highPassFilterX = 0.0, highPassFilterY = 0.0, highPassFilterZ = 0.0;
+ static bool_t prev_accelero_enabled = TRUE;
+ float norm, alpha;
+ float accelerox, acceleroy, acceleroz;
+ highPassFilterX = highPassFilterConstant * (highPassFilterX + acceleration.x - lastX);
+ highPassFilterY = highPassFilterConstant * (highPassFilterY + acceleration.y - lastY);
+ highPassFilterZ = highPassFilterConstant * (highPassFilterZ + acceleration.z - lastZ);
+ lastX = acceleration.x;
+ lastY = acceleration.y;
+ lastZ = acceleration.z;
+
+ if(running)
+ {
+ if(fabs(highPassFilterX) > ACCELERO_FASTMOVE_THRESHOLD ||
+ fabs(highPassFilterY) > ACCELERO_FASTMOVE_THRESHOLD ||
+ fabs(highPassFilterZ) > ACCELERO_FASTMOVE_THRESHOLD)
+ {
+ firePressed = YES;
+ }
+ else
+ {
+ firePressed = NO;
+
+ if(acceleroEnabled)
+ {
+ if(screenOrientationRight)
+ {
+ accelerox = acceleration.x;
+ acceleroy = -acceleration.y;
+ }
+ else
+ {
+ accelerox = -acceleration.x;
+ acceleroy = acceleration.y;
+ }
+ acceleroz = -acceleration.z;
+
+ // Initialize previous values of acceleros
+ if(accelerometer_started == NO)
+ {
+ accelerometer_started = YES;
+ accelero[0] = accelerox;
+ accelero[1] = acceleroy;
+ accelero[2] = acceleroz;
+ }
+
+ // Apply low pass filter on acceleros
+ accelero[0] = accelerox * lowPassFilterConstant + accelero[0] * (1.0 - lowPassFilterConstant);
+ accelero[1] = acceleroy * lowPassFilterConstant + accelero[1] * (1.0 - lowPassFilterConstant);
+ accelero[2] = acceleroz * lowPassFilterConstant + accelero[2] * (1.0 - lowPassFilterConstant);
+
+ // Apply rotation matrix and Clamp
+ accelerox = Clamp((accelero_rotation[0][0] * accelero[0]) + (accelero_rotation[0][1] * accelero[1]) + (accelero_rotation[0][2] * accelero[2]), -1.0, 1.0);
+ acceleroy = Clamp((accelero_rotation[1][0] * accelero[0]) + (accelero_rotation[1][1] * accelero[1]) + (accelero_rotation[1][2] * accelero[2]), -1.0, 1.0);
+ acceleroz = Clamp((accelero_rotation[2][0] * accelero[0]) + (accelero_rotation[2][1] * accelero[1]) + (accelero_rotation[2][2] * accelero[2]), -1.0, 1.0);
+
+ // compute
+ if(fabs(acceleroy) < ACCELERO_THRESHOLD)
+ {
+ if(accelerox >= 0.0)
+ alpha = M_PI_2;
+ else
+ alpha = -M_PI_2;
+ }
+ else
+ {
+ alpha = atan2(accelerox, acceleroy);
+ }
+
+ norm = Normalize(accelerox, acceleroy, 0.0);
+ if(norm > ACCELERO_NORM_THRESHOLD)
+ {
+ float tmp = (norm - ACCELERO_NORM_THRESHOLD) * (norm - ACCELERO_NORM_THRESHOLD);
+ controlData->accelero_phi = tmp * cosf(alpha);
+ controlData->accelero_theta = -tmp * sinf(alpha);
+ }
+ else
+ {
+ controlData->accelero_phi = 0.0;
+ controlData->accelero_theta = 0.0;
+ }
+ }
+ else if(prev_accelero_enabled != acceleroEnabled)
+ {
+ controlData->accelero_phi = 0.0;
+ controlData->accelero_theta = 0.0;
+ }
+
+ prev_accelero_enabled = acceleroEnabled;
+ sendControls();
+ }
+ }
+}
+
+- (void)refreshJoystickRight
+{
+ CGRect frame = joystickRightBackgroundImageView.frame;
+ frame.origin = joystickRightCurrentPosition;
+ joystickRightBackgroundImageView.frame = frame;
+}
+
+- (void)refreshJoystickLeft
+{
+ CGRect frame = joystickLeftBackgroundImageView.frame;
+ frame.origin = joystickLeftCurrentPosition;
+ joystickLeftBackgroundImageView.frame = frame;
+}
+
+- (void)refreshControlInterface
+{
+ if(acceleroEnabled)
+ {
+ switch (controlMode) {
+ case CONTROL_MODE2:
+ joystickLeftBackgroundImageView.hidden = NO;
+ joystickRightBackgroundImageView.hidden = YES;
+ break;
+
+ case CONTROL_MODE3:
+ default:
+ joystickLeftBackgroundImageView.hidden = YES;
+ joystickRightBackgroundImageView.hidden = NO;
+ break;
+ }
+ }
+ else
+ {
+ joystickLeftBackgroundImageView.hidden = NO;
+ joystickRightBackgroundImageView.hidden = NO;
+ }
+
+ [self refreshJoystickRight];
+ [self refreshJoystickLeft];
+}
+
+- (void)changeState:(BOOL)inGame
+{
+ printf("%s - running : %d, inGame : %d\n", __FUNCTION__, running, inGame);
+ running = inGame;
+ if(!inGame)
+ {
+ if(buttonRightPressed)
+ [joystickRightButton sendActionsForControlEvents:UIControlEventTouchCancel];
+
+ if(buttonLeftPressed)
+ [joystickLeftButton sendActionsForControlEvents:UIControlEventTouchCancel];
+ }
+}
+
+- (void)acceleroValueChanged:(bool_t)enabled
+{
+ acceleroEnabled = enabled;
+ [self performSelectorOnMainThread:@selector(refreshControlInterface) withObject:nil waitUntilDone:YES];
+}
+
+- (void)combinedYawValueChanged:(bool_t)enabled
+{
+ combinedYawEnabled = enabled;
+ [self performSelectorOnMainThread:@selector(refreshControlInterface) withObject:nil waitUntilDone:YES];
+}
+
+- (void)interfaceAlphaValueChanged:(CGFloat)value
+{
+ joystickRightThumbImageView.alpha = value;
+ joystickRightBackgroundImageView.alpha = value;
+ joystickLeftThumbImageView.alpha = value;
+ joystickLeftBackgroundImageView.alpha = value;
+ alpha = value;
+}
+
+- (void)controlModeChanged:(CONTROL_MODE)mode
+{
+ controlMode = mode;
+ [self performSelectorOnMainThread:@selector(refreshControlInterface) withObject:nil waitUntilDone:YES];
+}
+
+- (void)updateVelocity:(CGPoint)point isRight:(BOOL)isRight
+{
+ CGPoint nextpoint = CGPointMake(point.x, point.y);
+ CGPoint center = (isRight ? rightCenter : leftCenter);
+ UIImageView *backgroundImage = (isRight ? joystickRightBackgroundImageView : joystickLeftBackgroundImageView);
+ UIImageView *thumbImage = (isRight ? joystickRightThumbImageView : joystickLeftThumbImageView);
+
+ // Calculate distance and angle from the center.
+ float dx = nextpoint.x - center.x;
+ float dy = nextpoint.y - center.y;
+
+ float distance = sqrt(dx * dx + dy * dy);
+ float angle = atan2(dy, dx); // in radians
+
+ // NOTE: Velocity goes from -1.0 to 1.0.
+ // BE CAREFUL: don't just cap each direction at 1.0 since that
+ // doesn't preserve the proportions.
+ float joystick_radius = backgroundImage.frame.size.width / 2;
+ if (distance > joystick_radius) {
+ dx = cos(angle) * joystick_radius;
+ dy = sin(angle) * joystick_radius;
+ }
+
+ // Constrain the thumb so that it stays within the joystick
+ // boundaries. This is smaller than the joystick radius in
+ // order to account for the size of the thumb.
+ float thumb_radius = thumbImage.frame.size.width / 2;
+ if (distance > thumb_radius) {
+ nextpoint.x = center.x + (cos(angle) * thumb_radius);
+ nextpoint.y = center.y + (sin(angle) * thumb_radius);
+ }
+
+ // Update the thumb's position
+ CGRect frame = thumbImage.frame;
+ frame.origin.x = nextpoint.x - (thumbImage.frame.size.width / 2);
+ frame.origin.y = nextpoint.y - (thumbImage.frame.size.height / 2);
+ thumbImage.frame = frame;
+}
+
+- (void)setMessageBox:(NSString*)str
+{
+ static int prevSound = 0;
+ [messageBoxLabel performSelectorOnMainThread:@selector(setText:) withObject:str waitUntilDone:YES];
+
+ struct timeval nowSound;
+ gettimeofday(&nowSound, NULL);
+ if (([str compare:ARDroneEngineLocalizeString(@"BATTERY LOW ALERT")] == NSOrderedSame) &&
+ 2 < (nowSound.tv_sec - prevSound))
+ {
+ AudioServicesPlaySystemSound(batt_id);
+ prevSound = nowSound.tv_sec;
+ }
+}
+
+- (void)setTakeOff:(NSString*)str
+{
+ UIImage *image = [UIImage imageNamed:[str stringByAppendingString:@".png"]];
+ [takeOffButton setImage:image forState:UIControlStateNormal];
+}
+
+- (void)setEmergency:(NSString*)str
+{
+ if([str length] != 0)
+ {
+ UIImage *image = [UIImage imageNamed:[str stringByAppendingString:@".png"]];
+ emergencyButton.enabled = TRUE;
+ emergencyButton.alpha = 1.0;
+ [emergencyButton setImage:image forState:UIControlStateNormal];
+ }
+ else
+ {
+ emergencyButton.enabled = FALSE;
+ emergencyButton.alpha = 0.5;
+ }
+}
+
+- (void)hideInfos
+{
+ batteryLevelLabel.hidden = YES;
+ batteryImageView.hidden = YES;
+}
+
+- (void)showInfos
+{
+ batteryLevelLabel.hidden = (config.enableBatteryPercentage == NO);
+ batteryImageView.hidden = NO;
+}
+
+
+- (void)enableBackToMainMenu
+{
+ backToMainMenuButton.enabled = YES;
+ backToMainMenuButton.alpha = 1.0;
+}
+
+- (void)disableBackToMainMenu
+{
+ backToMainMenuButton.enabled = NO;
+ backToMainMenuButton.alpha = 0.0;
+}
+
+- (void)showBackToMainMenu:(BOOL)show
+{
+ if(show)
+ [self performSelectorOnMainThread:@selector(enableBackToMainMenu) withObject:nil waitUntilDone:YES];
+ else
+ [self performSelectorOnMainThread:@selector(disableBackToMainMenu) withObject:nil waitUntilDone:YES];
+}
+
+- (void)setBattery:(int)percent
+{
+ if(percent < 0)
+ {
+ [self performSelectorOnMainThread:@selector(hideInfos) withObject:nil waitUntilDone:YES];
+ }
+ else
+ {
+ UIImage *image = [UIImage imageNamed:[NSString stringWithFormat:@"battery%d.png", ((percent < 10) ? 0 : (int)((percent / 33.4) + 1))]];
+ [batteryImageView performSelectorOnMainThread:@selector(setImage:) withObject:image waitUntilDone:YES];
+
+ [self performSelectorOnMainThread:@selector(showInfos) withObject:nil waitUntilDone:YES];
+
+ [batteryLevelLabel performSelectorOnMainThread:@selector(setTextColor:) withObject:((percent < 10) ? [UIColor colorWithRed:1.0 green:0.0 blue:0.0 alpha:0.7] : [UIColor colorWithRed:0.0 green:0.65 blue:0.0 alpha:0.7]) waitUntilDone:YES];
+ [batteryLevelLabel performSelectorOnMainThread:@selector(setText:) withObject:[NSString stringWithFormat:@"%d %%", percent] waitUntilDone:YES];
+ }
+}
+
+- (IBAction)buttonPress:(id)sender forEvent:(UIEvent *)event
+{
+ UITouch *touch = [[event touchesForView:sender] anyObject];
+ CGPoint point = [touch locationInView:self.view];
+ bool_t acceleroModeOk = NO;
+
+ if(sender == joystickRightButton)
+ {
+ buttonRightPressed = YES;
+ // Start only if the first touch is within the pad's boundaries.
+ // Allow touches to be tracked outside of the pad as long as the
+ // screen continues to be pressed.
+ BOOL joystickIsOutside = ((point.x + (joystickRightBackgroundImageView.frame.size.width / 2) > (joystickRightButton.frame.origin.x + joystickRightButton.frame.size.width)) ||
+ (point.x - (joystickRightBackgroundImageView.frame.size.width / 2) < joystickRightButton.frame.origin.x) ||
+ (point.y + (joystickRightBackgroundImageView.frame.size.height / 2) > (joystickRightButton.frame.origin.y + joystickRightButton.frame.size.height)) ||
+ (point.y - (joystickRightBackgroundImageView.frame.size.height / 2) < joystickRightButton.frame.origin.y));
+
+ if(joystickIsOutside)
+ {
+ AudioServicesPlaySystemSound(plop_id);
+ }
+
+ joystickRightCurrentPosition.x = point.x - (joystickRightBackgroundImageView.frame.size.width / 2);
+ joystickRightCurrentPosition.y = point.y - (joystickRightBackgroundImageView.frame.size.height / 2);
+
+ joystickRightBackgroundImageView.alpha = joystickRightThumbImageView.alpha = 1.0;
+
+ // Refresh Joystick
+ [self refreshJoystickRight];
+
+ // Update center
+ rightCenter = CGPointMake(joystickRightBackgroundImageView.frame.origin.x + (joystickRightBackgroundImageView.frame.size.width / 2), joystickRightBackgroundImageView.frame.origin.y + (joystickRightBackgroundImageView.frame.size.height / 2));
+
+ // Update velocity
+ [self updateVelocity:rightCenter isRight:YES];
+
+ acceleroModeOk = controls_table[controlMode].Right.can_use_accelero;
+
+ if(combinedYawEnabled && buttonLeftPressed)
+ controlData->accelero_flag |= (1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
+ }
+ else if(sender == joystickLeftButton)
+ {
+ buttonLeftPressed = YES;
+
+ joystickLeftCurrentPosition.x = point.x - (joystickLeftBackgroundImageView.frame.size.width / 2);
+ joystickLeftCurrentPosition.y = point.y - (joystickLeftBackgroundImageView.frame.size.height / 2);
+
+ joystickLeftBackgroundImageView.alpha = joystickLeftThumbImageView.alpha = 1.0;
+
+ // Refresh Joystick
+ [self refreshJoystickLeft];
+
+ // Update center
+ leftCenter = CGPointMake(joystickLeftBackgroundImageView.frame.origin.x + (joystickLeftBackgroundImageView.frame.size.width / 2), joystickLeftBackgroundImageView.frame.origin.y + (joystickLeftBackgroundImageView.frame.size.height / 2));
+
+ // Update velocity
+ [self updateVelocity:leftCenter isRight:NO];
+
+ acceleroModeOk = controls_table[controlMode].Left.can_use_accelero;
+ if(combinedYawEnabled && buttonRightPressed)
+ controlData->accelero_flag |= (1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
+ }
+
+ if(acceleroModeOk)
+ {
+ controlData->accelero_flag |= (1 << ARDRONE_PROGRESSIVE_CMD_ENABLE);
+ if(acceleroEnabled)
+ {
+ // Start only if the first touch is within the pad's boundaries.
+ // Allow touches to be tracked outside of the pad as long as the
+ // screen continues to be pressed.
+ float phi, theta;
+ phi = (float)atan2f(accelero[1], accelero[2]);
+ theta = -(float)atan2f(accelero[0] * cosf(phi), accelero[2]);
+ [self setAcceleroRotationWithPhi:phi withTheta:theta withPsi:0.0];
+ }
+ }
+}
+
+- (IBAction)buttonRelease:(id)sender forEvent:(UIEvent *)event
+{
+ bool_t acceleroModeOk = NO;
+ if(sender == joystickRightButton)
+ {
+ buttonRightPressed = NO;
+
+ // Reinitialize joystick position
+ joystickRightCurrentPosition = joystickRightInitialPosition;
+ joystickRightBackgroundImageView.alpha = joystickRightThumbImageView.alpha = alpha;
+
+ // Refresh joystick
+ [self refreshJoystickRight];
+
+ // Update center
+ rightCenter = CGPointMake(joystickRightBackgroundImageView.frame.origin.x + (joystickRightBackgroundImageView.frame.size.width / 2), joystickRightBackgroundImageView.frame.origin.y + (joystickRightBackgroundImageView.frame.size.height / 2));
+
+ // reset joystick
+ [self updateVelocity:rightCenter isRight:YES];
+
+ controls_table[controlMode].Right.up_down(0.0);
+ controls_table[controlMode].Right.left_right(0.0);
+
+ acceleroModeOk = controls_table[controlMode].Right.can_use_accelero;
+
+ if(combinedYawEnabled)
+ controlData->accelero_flag &= ~(1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
+ }
+ else if(sender == joystickLeftButton)
+ {
+ //printf("button left released\n");
+ buttonLeftPressed = NO;
+ // Reinitialize joystick position
+ joystickLeftCurrentPosition = joystickLeftInitialPosition;
+ joystickLeftBackgroundImageView.alpha = joystickLeftThumbImageView.alpha = alpha;
+
+ // Refresh joystick
+ [self refreshJoystickLeft];
+
+ // Update center
+ leftCenter = CGPointMake(joystickLeftBackgroundImageView.frame.origin.x + (joystickLeftBackgroundImageView.frame.size.width / 2), joystickLeftBackgroundImageView.frame.origin.y + (joystickLeftBackgroundImageView.frame.size.height / 2));
+
+ // reset joystick
+ [self updateVelocity:leftCenter isRight:NO];
+
+ controls_table[controlMode].Left.up_down(0.0);
+ controls_table[controlMode].Left.left_right(0.0);
+
+ acceleroModeOk = controls_table[controlMode].Left.can_use_accelero;
+
+ if(combinedYawEnabled)
+ controlData->accelero_flag &= ~(1 << ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE);
+ }
+
+ if(acceleroModeOk)
+ {
+ controlData->accelero_flag &= ~(1 << ARDRONE_PROGRESSIVE_CMD_ENABLE);
+ if(acceleroEnabled)
+ {
+ [self setAcceleroRotationWithPhi:0.0 withTheta:0.0 withPsi:0.0];
+ }
+ }
+}
+
+- (IBAction)buttonDrag:(id)sender forEvent:(UIEvent *)event
+{
+ UITouch *touch = [[event touchesForView:sender] anyObject];
+ CGPoint point = [touch locationInView:self.view];
+ bool_t acceleroModeOk = NO;
+
+
+ float controlRatio = 0.5 - (CONTROL_RATIO / 2.0);
+ if (usingIPad && compiledForIPad)
+ {
+ controlRatio = 0.5 - (CONTROL_RATIO_IPAD / 2.0);
+ }
+
+
+
+ if(sender == joystickRightButton)
+ {
+ if((rightCenter.x - point.x) > ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width)))
+ {
+ float percent = ((rightCenter.x - point.x) - ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.width));
+ //NSLog(@"Percent (left) : %f\n", percent);
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Right.left_right(-percent);
+ }
+ else if((point.x - rightCenter.x) > ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width)))
+ {
+ float percent = ((point.x - rightCenter.x) - ((joystickRightBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.width))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.width));
+ //NSLog(@"Percent (right) : %f\n", percent);
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Right.left_right(percent);
+ }
+ else
+ {
+ controls_table[controlMode].Right.left_right(0.0);
+ }
+
+ if((point.y - rightCenter.y) > ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height)))
+ {
+ float percent = ((point.y - rightCenter.y) - ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.height));
+ //NSLog(@"Percent (down) : %f\n", percent);
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Right.up_down(-percent);
+ }
+ else if((rightCenter.y - point.y) > ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height)))
+ {
+ float percent = ((rightCenter.y - point.y) - ((joystickRightBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickRightBackgroundImageView.frame.size.height))) / ((controlRatio * joystickRightBackgroundImageView.frame.size.height));
+ //NSLog(@"Percent (top) : %f\n", percent);
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Right.up_down(percent);
+ }
+ else
+ {
+ controls_table[controlMode].Right.up_down(0.0);
+ }
+
+ acceleroModeOk = controls_table[controlMode].Right.can_use_accelero;
+ }
+ else if(sender == joystickLeftButton)
+ {
+ if((leftCenter.x - point.x) > ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width)))
+ {
+ float percent = ((leftCenter.x - point.x) - ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.width));
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Left.left_right(-percent);
+ }
+ else if((point.x - leftCenter.x) > ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width)))
+ {
+ float percent = ((point.x - leftCenter.x) - ((joystickLeftBackgroundImageView.frame.size.width / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.width))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.width));
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Left.left_right(percent);
+ }
+ else
+ {
+ controls_table[controlMode].Left.left_right(0.0);
+ }
+
+ if((point.y - leftCenter.y) > ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height)))
+ {
+ float percent = ((point.y - leftCenter.y) - ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.height));
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Left.up_down(-percent);
+ }
+ else if((leftCenter.y - point.y) > ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height)))
+ {
+ float percent = ((leftCenter.y - point.y) - ((joystickLeftBackgroundImageView.frame.size.height / 2) - (controlRatio * joystickLeftBackgroundImageView.frame.size.height))) / ((controlRatio * joystickLeftBackgroundImageView.frame.size.height));
+ if(percent > 1.0)
+ percent = 1.0;
+ controls_table[controlMode].Left.up_down(percent);
+ }
+ else
+ {
+ controls_table[controlMode].Left.up_down(0.0);
+ }
+
+ acceleroModeOk = controls_table[controlMode].Left.can_use_accelero;
+ }
+
+ if(acceleroModeOk)
+ {
+ if(!acceleroEnabled)
+ {
+ // Update joystick velocity
+ [self updateVelocity:point isRight:(sender == joystickRightButton)];
+ }
+ }
+ else
+ {
+ // Update joystick velocity
+ [self updateVelocity:point isRight:(sender == joystickRightButton)];
+ }
+
+}
+
+- (IBAction)buttonClick:(id)sender forEvent:(UIEvent *)event
+{
+ static ARDRONE_VIDEO_CHANNEL channel = ARDRONE_VIDEO_CHANNEL_FIRST;
+ if(sender == settingsButton)
+ settingsPressed = YES;
+ else if(sender == backToMainMenuButton)
+ mainMenuPressed = YES;
+ else if(sender == switchScreenButton)
+ {
+ if(channel++ == ARDRONE_VIDEO_CHANNEL_LAST)
+ channel = ARDRONE_VIDEO_CHANNEL_FIRST;
+
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(video_channel, (int32_t*)&channel, NULL);
+ }
+ else if(sender == takeOffButton)
+ {
+ switchTakeOff();
+ }
+ else if(sender == emergencyButton)
+ {
+ emergency();
+ }
+}
+
+- (void)viewDidLoad
+{
+ switchScreenButton.hidden = (config.enableSwitchScreen == NO);
+ backToMainMenuButton.hidden = (config.enableBackToMainMenu == NO);
+ batteryLevelLabel.hidden = (config.enableBatteryPercentage == NO);
+
+ rightCenter = CGPointMake(joystickRightThumbImageView.frame.origin.x + (joystickRightThumbImageView.frame.size.width / 2), joystickRightThumbImageView.frame.origin.y + (joystickRightThumbImageView.frame.size.height / 2));
+ joystickRightInitialPosition = CGPointMake(rightCenter.x - (joystickRightBackgroundImageView.frame.size.width / 2), rightCenter.y - (joystickRightBackgroundImageView.frame.size.height / 2));
+ leftCenter = CGPointMake(joystickLeftThumbImageView.frame.origin.x + (joystickLeftThumbImageView.frame.size.width / 2), joystickLeftThumbImageView.frame.origin.y + (joystickLeftThumbImageView.frame.size.height / 2));
+ joystickLeftInitialPosition = CGPointMake(leftCenter.x - (joystickLeftBackgroundImageView.frame.size.width / 2), leftCenter.y - (joystickLeftBackgroundImageView.frame.size.height / 2));
+
+ joystickLeftCurrentPosition = joystickLeftInitialPosition;
+ joystickRightCurrentPosition = joystickRightInitialPosition;
+
+ alpha = MIN(joystickRightBackgroundImageView.alpha, joystickRightThumbImageView.alpha);
+ joystickRightBackgroundImageView.alpha = joystickRightThumbImageView.alpha = alpha;
+ joystickLeftBackgroundImageView.alpha = joystickLeftThumbImageView.alpha = alpha;
+
+ // Get the URL to the sound file to play
+ CFURLRef batt_url = CFBundleCopyResourceURL (CFBundleGetMainBundle(),
+ CFSTR ("battery"),
+ CFSTR ("wav"),
+ NULL);
+ CFURLRef plop_url = CFBundleCopyResourceURL (CFBundleGetMainBundle(),
+ CFSTR ("plop"),
+ CFSTR ("wav"),
+ NULL);
+
+ // Create a system sound object representing the sound file
+ AudioServicesCreateSystemSoundID (plop_url, &plop_id);
+ AudioServicesCreateSystemSoundID (batt_url, &batt_id);
+ CFRelease(plop_url);
+ CFRelease(batt_url);
+
+ [self setBattery:-1];
+}
+
+- (void) dealloc
+{
+#ifdef WRITE_DEBUG_ACCELERO
+ fclose(mesures_file);
+#endif
+ AudioServicesDisposeSystemSoundID (plop_id);
+ AudioServicesDisposeSystemSoundID (batt_id);
+ [super dealloc];
+}
+
+@end
projects / mardrone / blobdiff